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<p>A class containing names for most robot microcontroller system commands.  
 <a href="classArCommands.html#details">More...</a></p>

<p><code>#include &lt;ArCommands.h&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a9a31f904a95bbc31d8b33c6637100cc4"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">Commands</a> { <br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a3305dc8abf8857ef79fa774c735e2338">PULSE</a> = 0, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ac9d00add73550339f92e898619b1431e">OPEN</a> = 1, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ab06d5da51bec2d37bdeeb752a927de1b">CLOSE</a> = 2, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4bb39487295904446169ec086d1be8bc">POLLING</a> = 3, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aa8d799cced5def80525936119963aad4">ENABLE</a> = 4, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4add34598d4895b5a76b59c810c7d41924">SETA</a> = 5, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a402a454d3f14e465dad12dd82ad39178">SETV</a> = 6, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a32302c1c9aa0271df5990e2bf0d5f8d5">SETO</a> = 7, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ab44a5d8443d8fd9d23680ce073f4c77b">MOVE</a> = 8, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a041f0631a966664beeb5ef8ada33d161">ROTATE</a> = 9, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a5645ac105999d02743f4ce962190bb86">SETRV</a> = 10, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a270f1a395081474ccc7b0a23840b2fdd">VEL</a> = 11, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0ba9131a03c6c40237fc63714b7e3ec3">HEAD</a> = 12, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a3df5abc2c0b8ccb593f1450eecc8ab60">DHEAD</a> = 13, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ad49c992dd02e60582bc2984651098b9f">SAY</a> = 15, 
<b>JOYINFO</b> = 17, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a2c4eaa1a689373f22b6bb4dfaaac2205">CONFIG</a> = 18, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a6f5af1fe8676a85b9dac2d3ea3015624">ENCODER</a> = 19, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a7fd21402b58761942eee6b2f5739650a">SETRVDIR</a> = 20, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a46efb214a0801c237781df2a0504688b">RVEL</a> = 21, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0fd75605acf187cfb9e0d543cf262e2a">DCHEAD</a> = 22, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a44733b6e3cb630b5d2d9c1cfc59d4b5b">SETRA</a> = 23, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a891b21e6cabc8a2296c8bceca20be779">SONAR</a> = 28, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0ba7f1547e32f5d3c807efacd0e33858">STOP</a> = 29, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a7c45511e5ff065a580fa6feb9861af24">DIGOUT</a> = 30, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4abadcdad344183c546816e27a624d51">VEL2</a> = 32, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a79ba996b4ed0a7af1b02988940040b83">GRIPPER</a> = 33, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a5910228cdeca49c176446d22b1c1f2a8">ADSEL</a> = 35, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a062645ec6d4b5fc20f1e16cc3dadbc10">GRIPPERVAL</a> = 36, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a49ac5fa5c6de372fd600c2a7600541c3">GRIPPERPACREQUEST</a> = 37, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a809bdfab85f97b3edbee3e13102a35bc">IOREQUEST</a> = 40, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ace0375d8613a35c21b1d876a3cb1bcb7">PTUPOS</a> = 41, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a51de296ec889c02c88c0bf98b11c414a">TTY2</a> = 42, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a10e72ab2eec33fe56d8db1042c462e93">GETAUX</a> = 43, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a200200150725b28581e44551f3d1d092">BUMPSTALL</a> = 44, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0548e63b60f5d5324f9ff6b1df0ad5b6">TCM2</a> = 45, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a75f4f18a5949deb065f6281700350d51">JOYDRIVE</a> = 47, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a985446122c2234b4a6f554d5c365529a">MOVINGBLINK</a> = 49, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a2011fb5c630e548281450abad4b6d4e1">HOSTBAUD</a> = 50, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4acbcdf7c6c50666489b721290d9440c34">AUX1BAUD</a> = 51, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ad996a6a1da341adf1709ca346e321e96">AUX2BAUD</a> = 52, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4abb2c16d3a5b527c4773c613dd1909cbb">ESTOP</a> = 55, 
<b>ESTALL</b> = 56, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4f783f34029e95605207be5aad66f130">GYRO</a> = 58, 
<br />
&#160;&#160;<b>TTY4</b> = 60, 
<b>GETAUX3</b> = 61, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a45ef186ee709b6e885fecd588dab06c6">BATTERYINFO</a> = 62, 
<b>TTY3</b> = 66, 
<br />
&#160;&#160;<b>GETAUX2</b> = 67, 
<b>BATTEST</b> = 250, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a29bcec8bb6421a88927ed34d026952e2">LOADPARAM</a> = 61, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a7c5a3e4e7743da6884f8ca4808bf5c6a">OLDSIM_LOADPARAM</a> = 61, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a22c6abf7b5a68930058a34c208cab102">ENDSIM</a> = 62, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a55164bae49378624feece9cba00a64fc">OLDSIM_EXIT</a> = 62, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a499851c852d740a429f708d22b66ae8d">LOADWORLD</a> = 63, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a923e99a94e18ef6b3a115458893cbe1e">OLDSIM_LOADWORLD</a> = 63, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a6a24a921d9d5bce0e37b56892594d436">STEP</a> = 64, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0131312cede0ea234bf5d550319f7f23">OLDSIM_STEP</a> = 64, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aba2808e65b491ddc70e3cfa6496c0dfe">CALCOMP</a> = 65, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a8db204fc59aefc0f13efe2257a1020c2">SETSIMORIGINTH</a> = 68, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a180f44a566683693b626bdf77bbe90f0">OLDSIM_SETORIGINTH</a> = 68, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aa0c706a0926dbcfd4cc9b87a47733441">RESETSIMTOORIGIN</a> = 69, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a086880520a5a7f85ecdc7dc522fc8ec2">OLDSIM_RESETTOORIGIN</a> = 69, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aeee55b68eb1c88da838dd849117858cb">SOUND</a> = 90, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a2dd001dcdc2ccaeab29290e7b42e1cea">PLAYLIST</a> = 91, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a7a256695b7937192e88c976d2fd106e5">SOUNDTOG</a> = 92, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4add6de2242e64b7c3e95cc30ce5e6102a">POWER_PC</a> = 95, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aa157f49a8ea53906a1f414c7f0c5a23a">POWER_LRF</a> = 96, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4a3e59570bb77e4db3d926306ad05e09">POWER_5V</a> = 97, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aea43fff6ed8ab36246f1c8ebb58dfddc">POWER_12V</a> = 98, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aaadc71c0f4910492889c44f9c19c74e9">POWER_24V</a> = 98, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a18645dc05d2c41f4a05191ea70cab0fe">POWER_AUX_PC</a> = 125, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a52e38f63078c41f2730ecb0bc6527aa4">POWER_TOUCHSCREEN</a> = 126, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a0d8a74a2894f96e0269fedbd582aa522">POWER_PTZ</a> = 127, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4dd1ebece932f18344e5bc0c49a1b39a">POWER_AUDIO</a> = 128, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ad4a9dbdfb74a7f0f10bff8658b1d87bd">POWER_LRF2</a> = 129, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a9fe2b1553f63f1b562c243849841d838">LATVEL</a> = 110, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4afe1d0afba05ab5eb4d00fdbfe3097dd0">LATACCEL</a> = 113, 
<b>SETLATV</b> = 0, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4afe82dc08248ac3cd1ae6c61339493519">SRECORD</a> = 210, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4aae535bc1e7bd32f6d07305934cfaf245">MARCDEBUG</a> = 211, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a3a2d55be0bb62e4a188537ab999843af">WHEEL_LIGHT</a> = 212, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a477b75569a318ca233f9d7cc11f3c95e">ABSOLUTE_MAXES</a> = 213, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4afb5c4110646c9a2b3debf90bdea397fb">SAFETY_STATE_INFO</a> = 214, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a5dee627c1b092119998b53dda275e0e1">SAFETY_SET_STATE</a> = 215, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a56e74e771e2f7d6baa1eb25cfe7551ae">SAFETY_DISABLE_POWER_OFF_TIMER</a> = 216, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a8b3a3fad0bd17caddba895a9c5bc9989">SIM_SET_POSE</a> = 224, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ad27a4028c11e138d832123f15f80d905">SIM_RESET</a> = 225, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4ad306281a1465e6aac4bc3a58bafb936e">SIM_LRF_ENABLE</a> = 230, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a018ff63c625a6ed9b9ff3211c0c5e5e8">SIM_LRF_SET_FOV_START</a> = 231, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a86f9063a7f3bebf3cc58983ee1402ef1">SIM_LRF_SET_FOV_END</a> = 232, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4ee1bb2ae64bb213b007069b39e15dc3">SIM_LRF_SET_RES</a> = 233, 
<br />
&#160;&#160;<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a4045334ba25d7d8ea9c69192410c5471">SIM_CTRL</a> = 236, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4af6d5199c512ca621a148948916607106">SIM_STAT</a> = 237, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a369a85e45b599b8c424cb67af1b55fe1">SIM_MESSAGE</a> = 238, 
<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4a966b4c65e3f4133bea7faa562affe305">SIM_EXIT</a> = 239
<br />
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A class containing names for most robot microcontroller system commands. </p>
<p>A class with an enum of the commands that can be sent to the robot, see the robot operations manual for more detailed descriptions. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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        <tr>
          <td class="memname">enum <a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">ArCommands::Commands</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a3305dc8abf8857ef79fa774c735e2338"></a>PULSE&#160;</td><td class="fielddoc">
<p>none, keep alive command, so watchdog doesn't trigger </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ac9d00add73550339f92e898619b1431e"></a>OPEN&#160;</td><td class="fielddoc">
<p>none, sent after connection to initiate connection </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ab06d5da51bec2d37bdeeb752a927de1b"></a>CLOSE&#160;</td><td class="fielddoc">
<p>none, sent to close the connection to the robot </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4bb39487295904446169ec086d1be8bc"></a>POLLING&#160;</td><td class="fielddoc">
<p>string, string that sets sonar polling sequence </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aa8d799cced5def80525936119963aad4"></a>ENABLE&#160;</td><td class="fielddoc">
<p>int, enable (1) or disable (0) motors </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4add34598d4895b5a76b59c810c7d41924"></a>SETA&#160;</td><td class="fielddoc">
<p>int, sets translational accel (+) or decel (-) (mm/sec/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a402a454d3f14e465dad12dd82ad39178"></a>SETV&#160;</td><td class="fielddoc">
<p>int, sets maximum velocity (mm/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a32302c1c9aa0271df5990e2bf0d5f8d5"></a>SETO&#160;</td><td class="fielddoc">
<p>int, resets robots origin back to 0, 0, 0 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ab44a5d8443d8fd9d23680ce073f4c77b"></a>MOVE&#160;</td><td class="fielddoc">
<p>int, translational move (mm) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a041f0631a966664beeb5ef8ada33d161"></a>ROTATE&#160;</td><td class="fielddoc">
<p>int, set rotational velocity, duplicate of RVEL (deg/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a5645ac105999d02743f4ce962190bb86"></a>SETRV&#160;</td><td class="fielddoc">
<p>int, sets the maximum rotational velocity (deg/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a270f1a395081474ccc7b0a23840b2fdd"></a>VEL&#160;</td><td class="fielddoc">
<p>int, set the translational velocity (mm/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0ba9131a03c6c40237fc63714b7e3ec3"></a>HEAD&#160;</td><td class="fielddoc">
<p>int, turn to absolute heading 0-359 (degrees) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a3df5abc2c0b8ccb593f1450eecc8ab60"></a>DHEAD&#160;</td><td class="fielddoc">
<p>int, turn relative to current heading (degrees) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ad49c992dd02e60582bc2984651098b9f"></a>SAY&#160;</td><td class="fielddoc">
<p>string, makes the robot beep. </p>
<p>up to 20 pairs of duration (20 ms incrs) and tones (halfcycle) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a2c4eaa1a689373f22b6bb4dfaaac2205"></a>CONFIG&#160;</td><td class="fielddoc">
<p>int, request configuration packet </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a6f5af1fe8676a85b9dac2d3ea3015624"></a>ENCODER&#160;</td><td class="fielddoc">
<p>int, &gt; 0 to request continous stream of packets, 0 to stop </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a7fd21402b58761942eee6b2f5739650a"></a>SETRVDIR&#160;</td><td class="fielddoc">
<p>int, Sets the rot vel max in each direction </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a46efb214a0801c237781df2a0504688b"></a>RVEL&#160;</td><td class="fielddoc">
<p>int, set rotational velocity (deg/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0fd75605acf187cfb9e0d543cf262e2a"></a>DCHEAD&#160;</td><td class="fielddoc">
<p>int, colbert relative heading setpoint (degrees) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a44733b6e3cb630b5d2d9c1cfc59d4b5b"></a>SETRA&#160;</td><td class="fielddoc">
<p>int, sets rotational accel(+) or decel(-) (deg/sec) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a891b21e6cabc8a2296c8bceca20be779"></a>SONAR&#160;</td><td class="fielddoc">
<p>int, enable (1) or disable (0) sonar </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0ba7f1547e32f5d3c807efacd0e33858"></a>STOP&#160;</td><td class="fielddoc">
<p>int, stops the robot </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a7c45511e5ff065a580fa6feb9861af24"></a>DIGOUT&#160;</td><td class="fielddoc">
<p>int, sets the digout lines </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4abadcdad344183c546816e27a624d51"></a>VEL2&#160;</td><td class="fielddoc">
<p>int, independent wheel velocities, first 8 bits = right, second 8 bits = left, multiplied by Vel2 divisor. </p>
<p>See manual. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a79ba996b4ed0a7af1b02988940040b83"></a>GRIPPER&#160;</td><td class="fielddoc">
<p>int, gripper server command, see gripper manual for detail </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a5910228cdeca49c176446d22b1c1f2a8"></a>ADSEL&#160;</td><td class="fielddoc">
<p>int, select the port given as argument </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a062645ec6d4b5fc20f1e16cc3dadbc10"></a>GRIPPERVAL&#160;</td><td class="fielddoc">
<p>p2 gripper server value, see gripper manual for details </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a49ac5fa5c6de372fd600c2a7600541c3"></a>GRIPPERPACREQUEST&#160;</td><td class="fielddoc">
<p>p2 gripper packet request </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a809bdfab85f97b3edbee3e13102a35bc"></a>IOREQUEST&#160;</td><td class="fielddoc">
<p>request iopackets from p2os </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ace0375d8613a35c21b1d876a3cb1bcb7"></a>PTUPOS&#160;</td><td class="fielddoc">
<p>most-sig byte is port number, least-sig byte is pulse width </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a51de296ec889c02c88c0bf98b11c414a"></a>TTY2&#160;</td><td class="fielddoc">
<p>string, send string argument to serial dev connected to aux1 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a10e72ab2eec33fe56d8db1042c462e93"></a>GETAUX&#160;</td><td class="fielddoc">
<p>int, requests 1-200 bytes from aux1 serial channel, 0 flush </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a200200150725b28581e44551f3d1d092"></a>BUMPSTALL&#160;</td><td class="fielddoc">
<p>int, stop and register a stall if front (1), rear (2), or both (3) bump rings are triggered, Off (default) is 0 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0548e63b60f5d5324f9ff6b1df0ad5b6"></a>TCM2&#160;</td><td class="fielddoc">
<p>TCM2 module commands, see tcm2 manual for details. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a75f4f18a5949deb065f6281700350d51"></a>JOYDRIVE&#160;</td><td class="fielddoc">
<p>Command to tell p2os to drive with the joystick plugged into the robot. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a985446122c2234b4a6f554d5c365529a"></a>MOVINGBLINK&#160;</td><td class="fielddoc">
<p>int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a2011fb5c630e548281450abad4b6d4e1"></a>HOSTBAUD&#160;</td><td class="fielddoc">
<p>int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4acbcdf7c6c50666489b721290d9440c34"></a>AUX1BAUD&#160;</td><td class="fielddoc">
<p>int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ad996a6a1da341adf1709ca346e321e96"></a>AUX2BAUD&#160;</td><td class="fielddoc">
<p>int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4abb2c16d3a5b527c4773c613dd1909cbb"></a>ESTOP&#160;</td><td class="fielddoc">
<p>none, emergency stop, overrides decel </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4f783f34029e95605207be5aad66f130"></a>GYRO&#160;</td><td class="fielddoc">
<p>int, set to 1 to enable gyro packets, 0 to disable </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a45ef186ee709b6e885fecd588dab06c6"></a>BATTERYINFO&#160;</td><td class="fielddoc">
<p>int, requests battery info packets, 0 to stop, 1 for 1, 2 for continuous </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a29bcec8bb6421a88927ed34d026952e2"></a>LOADPARAM&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated:</a></b></dt><dd>only supported by SRISim. Conflicts with GETAUX3 </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a7c5a3e4e7743da6884f8ca4808bf5c6a"></a>OLDSIM_LOADPARAM&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000015">Deprecated:</a></b></dt><dd>only supported by SRISim. Conflicts with GETAUX3 </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a22c6abf7b5a68930058a34c208cab102"></a>ENDSIM&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000016">Deprecated:</a></b></dt><dd>use SIM_EXIT </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a55164bae49378624feece9cba00a64fc"></a>OLDSIM_EXIT&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000017">Deprecated:</a></b></dt><dd>use SIM_EXIT </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a499851c852d740a429f708d22b66ae8d"></a>LOADWORLD&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000018">Deprecated:</a></b></dt><dd>only supported by SRISim </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a923e99a94e18ef6b3a115458893cbe1e"></a>OLDSIM_LOADWORLD&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000019">Deprecated:</a></b></dt><dd>only supported by SRISim </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a6a24a921d9d5bce0e37b56892594d436"></a>STEP&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000020">Deprecated:</a></b></dt><dd>only supported by SRISim </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0131312cede0ea234bf5d550319f7f23"></a>OLDSIM_STEP&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000021">Deprecated:</a></b></dt><dd>only supported by SRISim </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aba2808e65b491ddc70e3cfa6496c0dfe"></a>CALCOMP&#160;</td><td class="fielddoc">
<p>int, commands for calibrating compass, see compass manual </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a8db204fc59aefc0f13efe2257a1020c2"></a>SETSIMORIGINTH&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000022">Deprecated:</a></b></dt><dd>use SIM_SET_POSE </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a180f44a566683693b626bdf77bbe90f0"></a>OLDSIM_SETORIGINTH&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000023">Deprecated:</a></b></dt><dd>use SIM_SET_POSE </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aa0c706a0926dbcfd4cc9b87a47733441"></a>RESETSIMTOORIGIN&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000024">Deprecated:</a></b></dt><dd>use SIM_RESET </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a086880520a5a7f85ecdc7dc522fc8ec2"></a>OLDSIM_RESETTOORIGIN&#160;</td><td class="fielddoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000025">Deprecated:</a></b></dt><dd>use SIM_RESET </dd></dl>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aeee55b68eb1c88da838dd849117858cb"></a>SOUND&#160;</td><td class="fielddoc">
<p>int, AmigoBot (old H8 model) specific, plays sound with given number </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a2dd001dcdc2ccaeab29290e7b42e1cea"></a>PLAYLIST&#160;</td><td class="fielddoc">
<p>int, AmigoBot (old H8 model) specific, requests name of sound, 0 for all, otherwise for specific sound </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a7a256695b7937192e88c976d2fd106e5"></a>SOUNDTOG&#160;</td><td class="fielddoc">
<p>int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4add6de2242e64b7c3e95cc30ce5e6102a"></a>POWER_PC&#160;</td><td class="fielddoc">
<p>int, Powers on or off the PC (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aa157f49a8ea53906a1f414c7f0c5a23a"></a>POWER_LRF&#160;</td><td class="fielddoc">
<p>int, Powers on or off the laser (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4a3e59570bb77e4db3d926306ad05e09"></a>POWER_5V&#160;</td><td class="fielddoc">
<p>int, Powers on or off the 5v accessories (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aea43fff6ed8ab36246f1c8ebb58dfddc"></a>POWER_12V&#160;</td><td class="fielddoc">
<p>int, Powers on or off the 12v accessories (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aaadc71c0f4910492889c44f9c19c74e9"></a>POWER_24V&#160;</td><td class="fielddoc">
<p>int, Powers on or off the 24v accessories (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a18645dc05d2c41f4a05191ea70cab0fe"></a>POWER_AUX_PC&#160;</td><td class="fielddoc">
<p>int, Powers on or off the auxilliary PC (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a52e38f63078c41f2730ecb0bc6527aa4"></a>POWER_TOUCHSCREEN&#160;</td><td class="fielddoc">
<p>int, Powers on or off the touchscreen (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a0d8a74a2894f96e0269fedbd582aa522"></a>POWER_PTZ&#160;</td><td class="fielddoc">
<p>int, Powers on or off the PTZ (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4dd1ebece932f18344e5bc0c49a1b39a"></a>POWER_AUDIO&#160;</td><td class="fielddoc">
<p>int, Powers on or off the audio (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ad4a9dbdfb74a7f0f10bff8658b1d87bd"></a>POWER_LRF2&#160;</td><td class="fielddoc">
<p>int, Powers on or off the second laser (if the firwmare is set up to do this in its power settings) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a9fe2b1553f63f1b562c243849841d838"></a>LATVEL&#160;</td><td class="fielddoc">
<p>int, sets the lateral velocity (mm) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4afe1d0afba05ab5eb4d00fdbfe3097dd0"></a>LATACCEL&#160;</td><td class="fielddoc">
<p>int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4afe82dc08248ac3cd1ae6c61339493519"></a>SRECORD&#160;</td><td class="fielddoc">
<p>set max. lat. vel. (not available yet) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4aae535bc1e7bd32f6d07305934cfaf245"></a>MARCDEBUG&#160;</td><td class="fielddoc">
<p>&lt; int, (for downloading MTX firmware) byte with 0 for wait, 1 for OK, -1 for ERROR (waiting might take 3-5 seconds </p>
<p>for debug messages from MARC, possibly responses, possibly pushed... they are ascii strings that should be logged </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a3a2d55be0bb62e4a188537ab999843af"></a>WHEEL_LIGHT&#160;</td><td class="fielddoc">
<p>For the wheel lights. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a477b75569a318ca233f9d7cc11f3c95e"></a>ABSOLUTE_MAXES&#160;</td><td class="fielddoc">
<p>To set the absolute maxes. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4afb5c4110646c9a2b3debf90bdea397fb"></a>SAFETY_STATE_INFO&#160;</td><td class="fielddoc">
<p>int, request safety state info packets (0 == stop, 1 == send once, 2 == send continuous), </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a5dee627c1b092119998b53dda275e0e1"></a>SAFETY_SET_STATE&#160;</td><td class="fielddoc">
<p>2 bytes, first byte which system, second byte for value </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a56e74e771e2f7d6baa1eb25cfe7551ae"></a>SAFETY_DISABLE_POWER_OFF_TIMER&#160;</td><td class="fielddoc">
<p>int, 0 set off, 1 set on </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a8b3a3fad0bd17caddba895a9c5bc9989"></a>SIM_SET_POSE&#160;</td><td class="fielddoc">
<p>int4,int4,int4 Move robot to global pose in simulator (does not change odometry). Each value is a 4-byte integer. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ad27a4028c11e138d832123f15f80d905"></a>SIM_RESET&#160;</td><td class="fielddoc">
<p>none, Reset robot's state to original in simulator and reset odometry to 0,0,0. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4ad306281a1465e6aac4bc3a58bafb936e"></a>SIM_LRF_ENABLE&#160;</td><td class="fielddoc">
<p>int, 1 to begin sending packets of data from a simulated laser rangefinder (on the same socket connection), 2 to send extended-information laser packets (with reading flags), 0 to disable LRF </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a018ff63c625a6ed9b9ff3211c0c5e5e8"></a>SIM_LRF_SET_FOV_START&#160;</td><td class="fielddoc">
<p>int Set angle (degrees from center) at which the simulater laser takes its first reading (normally -90). </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a86f9063a7f3bebf3cc58983ee1402ef1"></a>SIM_LRF_SET_FOV_END&#160;</td><td class="fielddoc">
<p>int Set angle (degrees from center) at which the simulated laser takes its last reading (normally 90). </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4ee1bb2ae64bb213b007069b39e15dc3"></a>SIM_LRF_SET_RES&#160;</td><td class="fielddoc">
<p>int Set the number of degrees between laser readings (in combination with FOV, determines the number of readings per sweep) (normally 1) </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a4045334ba25d7d8ea9c69192410c5471"></a>SIM_CTRL&#160;</td><td class="fielddoc">
<p>int,..., Send a simulator meta-command (an operation on the simulator itself). The initial 2-byte integer argument selects the operation. See simulator documentation. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4af6d5199c512ca621a148948916607106"></a>SIM_STAT&#160;</td><td class="fielddoc">
<p>none, Request that the simulator reply with a SIMSTAT (0x62) packet. You must have a packet handler registered with <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> to receive its output. See simulator documentation. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a369a85e45b599b8c424cb67af1b55fe1"></a>SIM_MESSAGE&#160;</td><td class="fielddoc">
<p>string, Display a log message in the simulator. Argument is a length-prefixed ASCII byte string. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9a31f904a95bbc31d8b33c6637100cc4a966b4c65e3f4133bea7faa562affe305"></a>SIM_EXIT&#160;</td><td class="fielddoc">
<p>int, Exit the simulator. Argument is the exit code (use 0 for a "normal" exit). </p>
</td></tr>
</table>

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